clear; clc; close all;

load Q2_example_data_solution.mat

% plot subsampled trajectory:
colors1 = ['km']; 
map_fig_id = figure; hold on; axis([-5 25 -5 25]); axis equal; xlabel('East'); ylabel('North');
spacing = 20;
for i= [1:spacing:size(xfilt,2) size(xfilt,2)]
    plot_uncertainty_ellipse(xfilt(1:3,i), Sigma_filt{i}, map_fig_id, colors1);
end
